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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
Views: 1798
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/*

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   Copyright (C) 2021  Kraus Hamdani Aerospace Inc. All rights reserved.

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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   Author: Tom Pittenger

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 */

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#pragma once

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#include "AP_ADSB_Backend.h"

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#if HAL_ADSB_UCP_ENABLED

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#define AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS         1

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#include "GDL90_protocol/GDL90_Message_Structs.h"

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#include "GDL90_protocol/hostGDL90Support.h"

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class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend {

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public:

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    using AP_ADSB_Backend::AP_ADSB_Backend;

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    // init - performs any required initialisation for this instance

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    bool init() override;

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    // update - should be called periodically

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    void update() override;

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    // static detection function

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    static bool detect();

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private:

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    void handle_msg(const GDL90_RX_MESSAGE &msg);

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    bool request_msg(const GDL90_MESSAGE_ID msg_id);

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    void send_GPS_Data();

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    void send_Transponder_Control();

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    const char* get_hardware_name(const uint8_t hwId);

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    bool hostTransmit(uint8_t *buffer, uint16_t length);

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    uint16_t gdl90Transmit(GDL90_TX_MESSAGE &message, const uint16_t length);

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    static bool parseByte(const uint8_t data, GDL90_RX_MESSAGE &msg, GDL90_RX_STATUS &status);

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    struct {

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        uint32_t last_msg_ms;

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        GDL90_RX_MESSAGE msg;

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        GDL90_RX_STATUS status;

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        // cache local copies so we always have the latest info of everything.

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        struct {

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            GDL90_IDENTIFICATION_V3 identification;

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            GDL90_TRANSPONDER_CONFIG_MSG_V4_V5 transponder_config;

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            GDL90_HEARTBEAT heartbeat;

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            GDL90_TRANSPONDER_STATUS_MSG transponder_status;

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            GDL90_TRANSPONDER_STATUS_MSG_V3 transponder_status_v3;

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#if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS

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            GDL90_OWNSHIP_REPORT ownship_report;

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            GDL90_OWNSHIP_GEO_ALTITUDE ownship_geometric_altitude;

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            GDL90_SENSOR_BARO_MESSAGE sensor_message;

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#endif

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        } decoded;

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    } rx;

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    struct {

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        uint32_t last_packet_GPS_ms; // out

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        uint32_t last_packet_Transponder_Control_ms; // out

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        uint32_t last_packet_Transponder_Status_ms; // in

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        uint32_t last_packet_Transponder_Heartbeat_ms; // in

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        uint32_t last_packet_Transponder_Ownship_ms; // in

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        uint32_t last_gcs_send_message_Transponder_Status_ms; // out

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        uint32_t last_packet_Request_Transponder_Config_ms;  // out

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        uint32_t last_packet_Transponder_Config_ms; // in

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        uint32_t request_Transponder_Config_tries;

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        uint32_t last_packet_Request_Transponder_Id_ms; // out

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        uint32_t last_packet_Transponder_Id_ms; // in

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        uint32_t request_Transponder_Id_tries;

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    } run_state;

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};

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#endif // HAL_ADSB_UCP_ENABLED

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